OpenRaiser/Intern-Atlas huggingface dataset:
Development of Underactuated Geometric Compliant (UGC) Module with Variable Radial for Robotic Applications
Venue: arXiv cs.RO 2024
Year: 2024

This paper introduces a novel underactuated geometric compliant (UGC) robot and investigates the behaviors of underactuated compliant modules with variable radial stiffness, aiming to enhance the versatility and functionality of UGC robots. We initiate the study by designing and fabricating various compliant semi-rigid geometric joints, each tailored to a specific design objective. These joints undergo physical testing to validate their stiffness characteristics and returnable angles as durability factors. Subsequently, we develop a mathematical model based on Gaussian process regression to incorporate the different geometric joint characteristics, including thickness, facilitating the development of fully functional prototypes with easy-to-3D print models. After analyzing individual joints, we present various configurational combinations to construct the overall UGC module for robotics applications. Our final prototype UGC can dynamically alter its radius, reducing to 80-85\% of its original value while maintaining structural integrity and operational efficiency. This study discusses potential abilities, challenges, and limitations associated with employing UGC modules, offering valuable insights for future research and developments in UGC robotics.
ClusterGraph: a new tool for visualization and compression of multidimensional data
Venue: arXiv cs.CG 2024
Year: 2024

Understanding the global organization of complicated and high dimensional data is of primary interest for many branches of applied sciences. It is typically achieved by applying dimensionality reduction techniques mapping the considered data into lower dimensional space. This family of methods, while preserving local structures and features, often misses the global structure of the dataset. Clustering techniques are another class of methods operating on the data in the ambient space. They group together points that are similar according to a fixed similarity criteria, however unlike dimensionality reduction techniques, they do not provide information about the global organization of the data. Leveraging ideas from Topological Data Analysis, in this paper we provide an additional layer on the output of any clustering algorithm. Such data structure, ClusterGraph, provides information about the global layout of clusters, obtained from the considered clustering algorithm. Appropriate measures are provided to assess the quality and usefulness of the obtained representation. Subsequently the ClusterGraph, possibly with an appropriate structure--preserving simplification, can be visualized and used in synergy with state of the art exploratory data analysis techniques.
Overhead Measurement Noise in Different Runtime Environments
Venue: arXiv cs.PF 2024
Year: 2024

In order to detect performance changes, measurements are performed with the same execution environment. In cloud environments, the noise from different processes running on the same cluster nodes might change measurement results and thereby make performance changes hard to measure. The benchmark MooBench determines the overhead of different observability tools and is executed continuously. In this study, we compare the suitability of different execution environments to benchmark the observability overhead using MooBench. To do so, we compare the execution times and standard deviation of MooBench in a cloud execution environment to three bare-metal execution environments. We find that bare metal servers have lower runtime and standard deviation for multi-threaded MooBench execution. Nevertheless, we see that performance changes up to 4.41% are detectable by GitHub actions, as long as only sequential workloads are examined.
Towards Scalable Foundation Models for Digital Dermatology
Venue: arXiv cs.CV 2024
Year: 2024

The growing demand for accurate and equitable AI models in digital dermatology faces a significant challenge: the lack of diverse, high-quality labeled data. In this work, we investigate the potential of domain-specific foundation models for dermatology in addressing this challenge. We utilize self-supervised learning (SSL) techniques to pre-train models on a dataset of over 240,000 dermatological images from public and private collections. Our study considers several SSL methods and compares the resulting foundation models against domain-agnostic models like those pre-trained on ImageNet and state-of-the-art models such as MONET across 12 downstream tasks. Unlike previous research, we emphasize the development of smaller models that are more suitable for resource-limited clinical settings, facilitating easier adaptation to a broad range of use cases. Results show that models pre-trained in this work not only outperform general-purpose models but also approach the performance of models 50 times larger on clinically relevant diagnostic tasks. To promote further research in this direction, we publicly release both the training code and the foundation models, which can benefit clinicians in dermatological applications.
AcceLLM: Accelerating LLM Inference using Redundancy for Load Balancing and Data Locality
Venue: arXiv cs.DC 2024
Year: 2024

Large Language Model (LLM) inference on large-scale systems is expected to dominate future cloud infrastructures. Efficient LLM inference in cloud environments with numerous AI accelerators is challenging, necessitating extensive optimizations for optimal performance. Current systems batch prefill and decoding to boost throughput but encounter latency issues, while others disaggregate these phases, leading to resource underutilization. We propose AcceLLM, a novel method addressing latency and load balancing, inspired by the cache data management. It strategically utilizes redundant data to enhance inference via load balancing and optimal hardware use. Simulated evaluations on Nvidia H100 GPU and Huawei Ascend 910B2 show AcceLLM surpasses state-of-the-art systems up to 30% in latency and efficiency, handling diverse workloads effectively.
Machine learning-driven Anomaly Detection and Forecasting for Euclid Space Telescope Operations
Venue: arXiv cs.LG 2024
Year: 2024

State-of-the-art space science missions increasingly rely on automation due to spacecraft complexity and the costs of human oversight. The high volume of data, including scientific and telemetry data, makes manual inspection challenging. Machine learning offers significant potential to meet these demands. The Euclid space telescope, in its survey phase since February 2024, exemplifies this shift. Euclid's success depends on accurate monitoring and interpretation of housekeeping telemetry and science-derived data. Thousands of telemetry parameters, monitored as time series, may or may not impact the quality of scientific data. These parameters have complex interdependencies, often due to physical relationships (e.g., proximity of temperature sensors). Optimising science operations requires careful anomaly detection and identification of hidden parameter states. Moreover, understanding the interactions between known anomalies and physical quantities is crucial yet complex, as related parameters may display anomalies with varied timing and intensity. We address these challenges by analysing temperature anomalies in Euclid's telemetry from February to August 2024, focusing on eleven temperature parameters and 35 covariates. We use a predictive XGBoost model to forecast temperatures based on historical values, detecting anomalies as deviations from predictions. A second XGBoost model predicts anomalies from covariates, capturing their relationships to temperature anomalies. We identify the top three anomalies per parameter and analyse their interactions with covariates using SHAP (Shapley Additive Explanations), enabling rapid, automated analysis of complex parameter relationships. Our method demonstrates how machine learning can enhance telemetry monitoring, offering scalable solutions for other missions with similar data challenges.
Video RWKV:Video Action Recognition Based RWKV
Venue: arXiv cs.CV 2024
Year: 2024

To address the challenges of high computational costs and long-distance dependencies in exist ing video understanding methods, such as CNNs and Transformers, this work introduces RWKV to the video domain in a novel way. We propose a LSTM CrossRWKV (LCR) framework, designed for spatiotemporal representation learning to tackle the video understanding task. Specifically, the proposed linear complexity LCR incorporates a novel Cross RWKV gate to facilitate interaction be tween current frame edge information and past features, enhancing the focus on the subject through edge features and globally aggregating inter-frame features over time. LCR stores long-term mem ory for video processing through an enhanced LSTM recurrent execution mechanism. By leveraging the Cross RWKV gate and recurrent execution, LCR effectively captures both spatial and temporal features. Additionally, the edge information serves as a forgetting gate for LSTM, guiding long-term memory management.Tube masking strategy reduces redundant information in food and reduces overfitting.These advantages enable LSTM CrossRWKV to set a new benchmark in video under standing, offering a scalable and efficient solution for comprehensive video analysis. All code and models are publicly available.
Assessing Open-Source Large Language Models on Argumentation Mining Subtasks
Venue: arXiv cs.CL 2024
Year: 2024

We explore the capability of four open-sourcelarge language models (LLMs) in argumentation mining (AM). We conduct experiments on three different corpora; persuasive essays(PE), argumentative microtexts (AMT) Part 1 and Part 2, based on two argumentation mining sub-tasks: (i) argumentative discourse units classifications (ADUC), and (ii) argumentative relation classification (ARC). This work aims to assess the argumentation capability of open-source LLMs, including Mistral 7B, Mixtral8x7B, LlamA2 7B and LlamA3 8B in both, zero-shot and few-shot scenarios. Our analysis contributes to further assessing computational argumentation with open-source LLMs in future research efforts.
Harnessing High-Level Song Descriptors towards Natural Language-Based Music Recommendation
Venue: arXiv cs.IR 2024
Year: 2024

Recommender systems relying on Language Models (LMs) have gained popularity in assisting users to navigate large catalogs. LMs often exploit item high-level descriptors, i.e. categories or consumption contexts, from training data or user preferences. This has been proven effective in domains like movies or products. However, in the music domain, understanding how effectively LMs utilize song descriptors for natural language-based music recommendation is relatively limited. In this paper, we assess LMs effectiveness in recommending songs based on user natural language descriptions and items with descriptors like genres, moods, and listening contexts. We formulate the recommendation task as a dense retrieval problem and assess LMs as they become increasingly familiar with data pertinent to the task and domain. Our findings reveal improved performance as LMs are fine-tuned for general language similarity, information retrieval, and mapping longer descriptions to shorter, high-level descriptors in music.
A Survey of AI-Related Cyber Security Risks and Countermeasures in Mobility-as-a-Service
Venue: arXiv cs.CR 2024
Year: 2024

Mobility-as-a-Service (MaaS) integrates different transport modalities and can support more personalisation of travellers' journey planning based on their individual preferences, behaviours and wishes. To fully achieve the potential of MaaS, a range of AI (including machine learning and data mining) algorithms are needed to learn personal requirements and needs, to optimise journey planning of each traveller and all travellers as a whole, to help transport service operators and relevant governmental bodies to operate and plan their services, and to detect and prevent cyber attacks from various threat actors including dishonest and malicious travellers and transport operators. The increasing use of different AI and data processing algorithms in both centralised and distributed settings opens the MaaS ecosystem up to diverse cyber and privacy attacks at both the AI algorithm level and the connectivity surfaces. In this paper, we present the first comprehensive review on the coupling between AI-driven MaaS design and the diverse cyber security challenges related to cyber attacks and countermeasures. In particular, we focus on how current and emerging AI-facilitated privacy risks (profiling, inference, and third-party threats) and adversarial AI attacks (evasion, extraction, and gamification) may impact the MaaS ecosystem. These risks often combine novel attacks (e.g., inverse learning) with traditional attack vectors (e.g., man-in-the-middle attacks), exacerbating the risks for the wider participation actors and the emergence of new business models.
Settling the Complexity of Popularity in Additively Separable and Fractional Hedonic Games
Venue: arXiv cs.GT 2024
Year: 2024

We study coalition formation in the framework of hedonic games. There, a set of agents needs to be partitioned into disjoint coalitions, where agents have a preference order over coalitions. A partition is called popular if it does not lose a majority vote among the agents against any other partition. Unfortunately, hedonic games need not admit popular partitions and prior work suggests significant computational hardness. We confirm this impression by proving that deciding about the existence of popular partitions in additively separable and fractional hedonic games is $Σ_2^p$-complete. This settles the complexity of these problems and is the first work that proves completeness of popularity for the second level of the polynomial hierarchy.
Poze: Sports Technique Feedback under Data Constraints
Venue: arXiv cs.CV 2024
Year: 2024

Access to expert coaching is essential for developing technique in sports, yet economic barriers often place it out of reach for many enthusiasts. To bridge this gap, we introduce Poze, an innovative video processing framework that provides feedback on human motion, emulating the insights of a professional coach. Poze combines pose estimation with sequence comparison and is optimized to function effectively with minimal data. Poze surpasses state-of-the-art vision-language models in video question-answering frameworks, achieving 70% and 196% increase in accuracy over GPT4V and LLaVAv1.6 7b, respectively.
Topology-aware Reinforcement Feature Space Reconstruction for Graph Data
Venue: arXiv cs.LG 2024
Year: 2024

Feature space is an environment where data points are vectorized to represent the original dataset. Reconstructing a good feature space is essential to augment the AI power of data, improve model generalization, and increase the availability of downstream ML models. Existing literature, such as feature transformation and feature selection, is labor-intensive (e.g., heavy reliance on empirical experience) and mostly designed for tabular data. Moreover, these methods regard data samples as independent, which ignores the unique topological structure when applied to graph data, thus resulting in a suboptimal reconstruction feature space. Can we consider the topological information to automatically reconstruct feature space for graph data without heavy experiential knowledge? To fill this gap, we leverage topology-aware reinforcement learning to automate and optimize feature space reconstruction for graph data. Our approach combines the extraction of core subgraphs to capture essential structural information with a graph neural network (GNN) to encode topological features and reduce computing complexity. Then we introduce three reinforcement agents within a hierarchical structure to systematically generate meaningful features through an iterative process, effectively reconstructing the feature space. This framework provides a principled solution for attributed graph feature space reconstruction. The extensive experiments demonstrate the effectiveness and efficiency of including topological awareness.
Gender Inequalities in Content Collaborations: Asymmetric Creator Synergy and Symmetric Audience Biases
Venue: arXiv cs.CY 2024
Year: 2024

Content-creator collaborations are a widespread strategy for enhancing digital viewership and revenue. While existing research has explored the efficacy of collaborations, few have looked at inequities in collaborations, particularly from the perspective of the supply and demand of attention. Leveraging 42,376 videos and 6,117,441 comments from YouTube (across 150 channels and 3 games), this study examines gender inequality in collaborative environments. Utilizing Shapley value, a tool from cooperative game theory, results reveal dominant in-group collaborations based on in-game affordances. However, audience responses are aligned across games, reflecting symmetric biases across the gaming communities, with comments focusing more on peripherals than actual gameplay for women. We find supply-side asymmetries exist along with demand-side symmetries. Our results engage with the larger literature on digital and online biases, highlighting how genre and affordances moderate gendered collaboration, the direction of inequality, and contributing a general framework to quantify synergy across collaborations.
Similarity-based context aware continual learning for spiking neural networks
Venue: arXiv cs.NE 2024
Year: 2024

Biological brains have the capability to adaptively coordinate relevant neuronal populations based on the task context to learn continuously changing tasks in real-world environments. However, existing spiking neural network-based continual learning algorithms treat each task equally, ignoring the guiding role of different task similarity associations for network learning, which limits knowledge utilization efficiency. Inspired by the context-dependent plasticity mechanism of the brain, we propose a Similarity-based Context Aware Spiking Neural Network (SCA-SNN) continual learning algorithm to efficiently accomplish task incremental learning and class incremental learning. Based on contextual similarity across tasks, the SCA-SNN model can adaptively reuse neurons from previous tasks that are beneficial for new tasks (the more similar, the more neurons are reused) and flexibly expand new neurons for the new task (the more similar, the fewer neurons are expanded). Selective reuse and discriminative expansion significantly improve the utilization of previous knowledge and reduce energy consumption. Extensive experimental results on CIFAR100, ImageNet generalized datasets, and FMNIST-MNIST, SVHN-CIFAR100 mixed datasets show that our SCA-SNN model achieves superior performance compared to both SNN-based and DNN-based continual learning algorithms. Additionally, our algorithm has the capability to adaptively select similar groups of neurons for related tasks, offering a promising approach to enhancing the biological interpretability of efficient continual learning.
SkipSNN: Efficiently Classifying Spike Trains with Event-attention
Venue: arXiv cs.NE 2024
Year: 2024

Spike train classification has recently become an important topic in the machine learning community, where each spike train is a binary event sequence with \emph{temporal-sparsity of signals of interest} and \emph{temporal-noise} properties. A promising model for it should follow the design principle of performing intensive computation only when signals of interest appear. So such tasks use mainly Spiking Neural Networks (SNNs) due to their consideration of temporal-sparsity of spike trains. However, the basic mechanism of SNNs ignore the temporal-noise issue, which makes them computationally expensive and thus high power consumption for analyzing spike trains on resource-constrained platforms. As an event-driven model, an SNN neuron makes a reaction given any input signals, making it difficult to quickly find signals of interest. In this paper, we introduce an event-attention mechanism that enables SNNs to dynamically highlight useful signals of the original spike trains. To this end, we propose SkipSNN, which extends existing SNN models by learning to mask out noise by skipping membrane potential updates and shortening the effective size of the computational graph. This process is analogous to how people choose to open and close their eyes to filter the information they see. We evaluate SkipSNN on various neuromorphic tasks and demonstrate that it achieves significantly better computational efficiency and classification accuracy than other state-of-the-art SNNs.
Benchmarking Vision, Language, & Action Models on Robotic Learning Tasks
Venue: arXiv cs.RO 2024
Year: 2024

Vision-language-action (VLA) models represent a promising direction for developing general-purpose robotic systems, demonstrating the ability to combine visual understanding, language comprehension, and action generation. However, systematic evaluation of these models across diverse robotic tasks remains limited. In this work, we present a comprehensive evaluation framework and benchmark suite for assessing VLA models. We profile three state-of-the-art VLM and VLAs - GPT-4o, OpenVLA, and JAT - across 20 diverse datasets from the Open-X-Embodiment collection, evaluating their performance on various manipulation tasks. Our analysis reveals several key insights: 1. current VLA models show significant variation in performance across different tasks and robot platforms, with GPT-4o demonstrating the most consistent performance through sophisticated prompt engineering, 2. all models struggle with complex manipulation tasks requiring multi-step planning, and 3. model performance is notably sensitive to action space characteristics and environmental factors. We release our evaluation framework and findings to facilitate systematic assessment of future VLA models and identify critical areas for improvement in the development of general purpose robotic systems.
Fully Automated Correlated Time Series Forecasting in Minutes
Venue: arXiv cs.LG 2024
Year: 2024

Societal and industrial infrastructures and systems increasingly leverage sensors that emit correlated time series. Forecasting of future values of such time series based on recorded historical values has important benefits. Automatically designed models achieve higher accuracy than manually designed models. Given a forecasting task, which includes a dataset and a forecasting horizon, automated design methods automatically search for an optimal forecasting model for the task in a manually designed search space, and then train the identified model using the dataset to enable the forecasting. Existing automated methods face three challenges. First, the search space is constructed by human experts, rending the methods only semi-automated and yielding search spaces prone to subjective biases. Second, it is time consuming to search for an optimal model. Third, training the identified model for a new task is also costly. These challenges limit the practicability of automated methods in real-world settings. To contend with the challenges, we propose a fully automated and highly efficient correlated time series forecasting framework where the search and training can be done in minutes. The framework includes a data-driven, iterative strategy to automatically prune a large search space to obtain a high-quality search space for a new forecasting task. It includes a zero-shot search strategy to efficiently identify the optimal model in the customized search space. And it includes a fast parameter adaptation strategy to accelerate the training of the identified model. Experiments on seven benchmark datasets offer evidence that the framework is capable of state-of-the-art accuracy and is much more efficient than existing methods.